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Este trabalho encontra-se inserido no pro jeto SABUVIS I I, sendo o ob jetivo global do pro jeto criar um “cardume” de veículos autónomos de sub-sup erfície
biomiméticos. Esse grup o será constituído p or dois tip os de unidades, unidades
controladoras cuja função é controlar e co ordenar as restantes unidades p or forma
a executar a tarefa pretendida, e as unidades executantes cuja função é executar as
ordens das unidades controladoras, p or forma a executar tarefas que p ermitam o
cumprimento duma missão, satisfazendo um padrão de requisitos op eracionais.
O ob jetivo deste trabalho é desenvolver um protótip o duma unidade executante, começando p elo seu dimensionamento inicial e progredir no sentido de
elab orar o seu pro jeto detalhado, incorp orando o dimensionamento do seu sistema
energético, do seu sistema de propulsão alternativa e do sistema de variação de flutuabilidade, visando que a unidade custe o menos p ossível dado que, num cenário
op eracional, p o derá ser necessário descartar uma destas unidades sem comprometer
a capacidade op eracional da força.
This thesis is part of the SABUVIS I I pro ject, and the overall ob jective of the pro ject is to create a swarm of autonomous biomimetic underwater vehicles. This group will consist of two typ es of units, controller units whose function is to control and co ordinate the remaining units in order to p erform the intended task, and the executing units whose function is to execute the orders of the controlling units, in order to p erform tasks that allow the fulfillment of a mission, satisfying a standard of op erational requirements. The ob jective of this pro ject is to develop a prototyp e of an executing unit, starting with its initial dimensioning and progressing towards elab orating its detailed pro ject, incorp orating the dimensioning of its energy system, its alternative propulsion system and the buoyancy variation system, aiming for the minimum cost since, in an op erational scenario, it may b e necessary to discard one of these units without compromising the op erational capacity of the force.
This thesis is part of the SABUVIS I I pro ject, and the overall ob jective of the pro ject is to create a swarm of autonomous biomimetic underwater vehicles. This group will consist of two typ es of units, controller units whose function is to control and co ordinate the remaining units in order to p erform the intended task, and the executing units whose function is to execute the orders of the controlling units, in order to p erform tasks that allow the fulfillment of a mission, satisfying a standard of op erational requirements. The ob jective of this pro ject is to develop a prototyp e of an executing unit, starting with its initial dimensioning and progressing towards elab orating its detailed pro ject, incorp orating the dimensioning of its energy system, its alternative propulsion system and the buoyancy variation system, aiming for the minimum cost since, in an op erational scenario, it may b e necessary to discard one of these units without compromising the op erational capacity of the force.
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Palavras-chave
Veículos Autónomos de Sub-superfície Veículos Autónomos de Sub-superfície Biomiméticos Requisitos Operacionais Dimensionamento Inicial Projeto de Veículos Submarinos Projeto Detalhado Sistema de Propulsão Alternativo